CN106004230B - A kind of flexible magnets wheel for ascending male and fomale(M＆F) - Google Patents
A kind of flexible magnets wheel for ascending male and fomale(M＆F) Download PDFInfo
- Publication number
- CN106004230B CN106004230B CN201610369017.3A CN201610369017A CN106004230B CN 106004230 B CN106004230 B CN 106004230B CN 201610369017 A CN201610369017 A CN 201610369017A CN 106004230 B CN106004230 B CN 106004230B
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- Prior art keywords
- wheel
- fomale
- male
- ascending
- magnet
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/006—Magnetic wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
- Tires In General (AREA)
Abstract
A kind of flexible magnets wheel for ascending male and fomale(M＆F), for the traveling wheel of crusing robot, including rigid wheel body, circular magnet, nut, spring, slotted countersunk flat head screw.The flexible magnets wheel according to the present invention for ascending male and fomale(M＆F), can adaptively deform adaptation road conditions, ensure single wheel always with the absorption of at least 3 points of concave and convex plane so that robot can stand upside down traveling on male and fomale(M＆F).
Description
Technical field
The present invention relates to a kind of flexible magnets wheels for ascending male and fomale(M＆F), belong to industrial robot field.
Background technology
Magnet wheel belongs to crusing robot movable accessory, is especially used for ascending container top, the uneven face in side.It passes
The magnet pulley of system stands upside down absorption when move in rough corrugation face due to being rigid, when the wheel of robot move in
Edges and corners, wheel are in line contact or point contact with corner angle, and at this moment magnetic force can weaken significantly, and robot can fall down from top,
Cause to damage.
The content of the invention
It is an object of the invention to be directed to the drawbacks described above of the prior art, a kind of flexible magnets for ascending male and fomale(M＆F) are proposed
Wheel, can adaptively deform adaptation road conditions, ensure single wheel always with the absorption of at least 3 points of concave and convex plane so that robot can be with
It stands upside down and travels on male and fomale(M＆F).
To achieve the above object, the present invention provides following technical solution：
A kind of flexible magnets wheel for ascending male and fomale(M＆F), for the traveling wheel of crusing robot, including rigid wheel body, circle
Magnet, nut, spring, slotted countersunk flat head screw.
Wherein, circular magnet, nut, spring, slotted countersunk flat head screw form a magnet adsorption unit.
The rigidity wheel body is cirque structure, and the annulus wall has certain thickness, but less than slotted countersunk flat head screw
Screw division thickness.
Including at least two rows of magnet adsorption units arranged side by side, wherein the two rows of absorbing units of left and right side by side set for alternation method
It puts.
Preferably, spring is the smaller compression spring of stiffness coefficient, can reset the slotted countersunk flat head screw of installation circular magnet
.
It is further preferred that circular magnet is round end perforate chamfering strong magnet, fluting countersunk head spiral shell penetrates magnet opening, uses nut
It is fixed so that they are an entirety.
It is further preferred that the boring ratio screw diameter on rigid wheel body is big, circular magnet small-scale can be swung.
Description of the drawings
Fig. 1 is the front view of the flexible magnets wheel for ascending male and fomale(M＆F) of the present invention.
Fig. 2 is the side view of the flexible magnets wheel for ascending male and fomale(M＆F) of the present invention.
Fig. 3 is the adsorbed state figure ascended at the flexible magnets wheel lug edge of male and fomale(M＆F) of the present invention.
Fig. 4 is the adsorbed state figure ascended at the flexible magnets wheel concave rib side of male and fomale(M＆F) of the present invention.
(pay attention to：Shown structure in attached drawing is simply to illustrate that the signal of feature of present invention, is not intended to according to attached drawing institute
Show structure.)
Specific embodiment
As shown in Figs 1-4, the flexible magnets wheel according to the present invention for ascending male and fomale(M＆F), for crusing robot
Traveling wheel.
As shown in Figure 1,3, the flexible magnets wheel according to the present invention for ascending male and fomale(M＆F), including rigid wheel body 1, circle
Shape magnet 2, nut 3, spring 4, slotted countersunk flat head screw 5.Wherein, circular magnet 2, nut 3, spring 4,5 shape of slotted countersunk flat head screw
Into a magnet adsorption unit.
Specifically, the rigidity wheel body 1 is cirque structure, the annulus wall has certain thickness, but less than fluting
The thickness of the screw division of sunk screw 5.
Spring 4 is the smaller compression spring of stiffness coefficient, can reset the slotted countersunk flat head screw 5 of installation circular magnet 2.
Circular magnet 2 is round end perforate chamfering strong magnet, and slotted countersunk flat head screw 5 penetrates magnet opening, be screwed so that
They are an entirety.
Then, penetrate spring 4 and screw is penetrated into rigid wheel body opening, fixed with nut 3, what need not be twisted when fixed tightly causes very much
Spring 4 is contacted with circular magnet 2.Since the boring ratio screw diameter on rigid wheel body 1 is big, circular magnet 2 can be small-scale
It swings.
As nut 3 and slotted countersunk flat head screw 5 screw up, circular magnet 2, nut 3, spring 4, slotted countersunk flat head screw are completed
5 with the installation process of rigid wheel body 1.
As shown in Figure 1, the still whole rounded wheel shape of the mounted flexible magnets wheel for ascending male and fomale(M＆F), each
Circular magnet 2 on rigid wheel body 1 can telescopic oscillating, so considerably increase the absorption degree of freedom of magnet, increase whole
Adsorption capacity of a wheel on male and fomale(M＆F) ensure that the suction needed for movement.
Further, as shown in Fig. 2, the flexible magnets wheel according to the present invention for ascending male and fomale(M＆F), includes at least
Two rows of magnet adsorption units arranged side by side.Wherein each magnet adsorption unit includes circular magnet 2, nut 3, spring 4 and fluting
Sunk screw 5.
Also, it is set as shown in Fig. 2, the two rows of absorbing units of left and right side by side are alternation method, it is recessed so as to ensure to ascend
The continuity that the flexible magnets wheel on convex surface is contacted with adsorption plane similar to the foot of octopus, realizes continuous and flexible suction
Attached function.
As shown in Figure 3,4, the flexible magnets wheel according to the present invention for ascending male and fomale(M＆F) can be adsorbed in concave, convex rib
At side.When the wheel body of absorption moves to edges and corners, since round end magnet 2 can be so ensured that with telescopic oscillating in edges and corners
Sorption wheel can increase adsorption capacity with male and fomale(M＆F) at least 3 point contacts always during transition so that robot can fall on male and fomale(M＆F)
Vertical traveling.
It can be seen that the flexible magnets wheel according to the present invention for ascending male and fomale(M＆F), the magnet on wheel body can be one
Determine adaptive road conditions in scope, increase adsorption area, enhance adaptability.
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the scope of the present invention, it is all
All any modification, equivalent and improvement made within the spirit and principles in the present invention etc. should be included in the protection of the present invention
Within the scope of.
Claims (4)
1. a kind of flexible magnets wheel for ascending male and fomale(M＆F), for the traveling wheel of crusing robot, it is characterised in that：
Including rigid wheel body (1), circular magnet (2), nut (3), spring (4), slotted countersunk flat head screw (5)；
Wherein, circular magnet (2), nut (3), spring (4), slotted countersunk flat head screw (5) form a magnet adsorption unit；
The rigidity wheel body (1) is cirque structure, and the annulus wall has certain thickness, but less than slotted countersunk flat head screw
(5) thickness of screw division；
Including at least two rows of magnet adsorption units arranged side by side, set wherein the two rows of absorbing units of left and right side by side are alternation method.
2. the flexible magnets wheel according to claim 1 for ascending male and fomale(M＆F), it is characterised in that：
Spring (4) is the smaller compression spring of stiffness coefficient, and the slotted countersunk flat head screw (5) of installation circular magnet (2) can be made to reset i.e.
It can.
3. the flexible magnets wheel according to claim 2 for ascending male and fomale(M＆F), it is characterised in that：
Circular magnet (2) is round end perforate chamfering strong magnet, and slotted countersunk flat head screw (5) penetrates magnet opening, is made with nut (3) fixation
It is an entirety to obtain them.
4. the flexible magnets wheel according to claim 3 for ascending male and fomale(M＆F), it is characterised in that：
Boring ratio screw diameter on rigid wheel body (1) is big, and circular magnet (2) small-scale can be swung.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610369017.3A CN106004230B (en) | 2016-05-30 | 2016-05-30 | A kind of flexible magnets wheel for ascending male and fomale(M＆F) |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610369017.3A CN106004230B (en) | 2016-05-30 | 2016-05-30 | A kind of flexible magnets wheel for ascending male and fomale(M＆F) |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106004230A CN106004230A (en) | 2016-10-12 |
| CN106004230B true CN106004230B (en) | 2018-05-25 |
Family
ID=57091570
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610369017.3A Active CN106004230B (en) | 2016-05-30 | 2016-05-30 | A kind of flexible magnets wheel for ascending male and fomale(M＆F) |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106004230B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106945741A (en) * | 2017-04-17 | 2017-07-14 | 天津职业技术师范大学 | A kind of jack up offshore platform cylinder spud leg inwall circling measurment machine people |
| CN106976491A (en) * | 2017-04-18 | 2017-07-25 | 成都圭目机器人有限公司 | A kind of lightweight magnetic roller adsorption type wall climbing robot |
| CN108638018A (en) * | 2018-05-04 | 2018-10-12 | 宁波科邦华诚技术转移服务有限公司 | A kind of adaptive walking robot |
| CN109050155A (en) * | 2018-07-30 | 2018-12-21 | 北京科技大学 | A kind of flexible vehicle wheel of adaptive rough ground |
| CN110000130A (en) * | 2019-02-21 | 2019-07-12 | 龙雪琴 | A kind of pylon Ice removing machine based on ice walking |
| CN110773489A (en) * | 2019-09-12 | 2020-02-11 | 天津华能北方热力设备有限公司 | Barrier-free high-altitude rust removal device |
| CN113428248B (en) * | 2021-08-05 | 2022-08-09 | 上海大学 | Magnetic conduction wall climbing robot |
| CN113734313B (en) * | 2021-09-24 | 2022-09-30 | 上海电力股份有限公司吴泾热电厂 | Magnetic attraction force adjustable water-cooled wall tube robot |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4179633A (en) * | 1978-02-21 | 1979-12-18 | Kelly Donald A | Magnetic wheel drive |
| CN201090892Y (en) * | 2007-09-29 | 2008-07-23 | 华中科技大学 | Wheeled type permanent magnetism adsorption piping creep robot |
| CN102673673A (en) * | 2012-06-07 | 2012-09-19 | 中国东方电气集团有限公司 | Novel universal rolling magnet-wheel device for magnetic adsorption climbing robot |
| WO2015081020A1 (en) * | 2013-11-30 | 2015-06-04 | Saudi Arabian Oil Company | Magnetic omni-wheel |
| CN204512176U (en) * | 2015-01-06 | 2015-07-29 | 西南大学 | A kind of magnetic force road wheel with arc groove |
| CN205631936U (en) * | 2016-05-30 | 2016-10-12 | 哈工大机器人集团有限公司 | Can ascend flexible magnet wheel of corrugated surface |
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2016
- 2016-05-30 CN CN201610369017.3A patent/CN106004230B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106004230A (en) | 2016-10-12 |
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| C06 | Publication | ||
| PB01 | Publication | ||
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
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| TR01 | Transfer of patent right |
Effective date of registration: 20190128 Address after: 150000 Heilongjiang Harbin Dalian economic and Trade Zone, the North Road and Xingkai Road intersection Patentee after: Hagongda robot group (Harbin) Asset Management Co., Ltd. Address before: 150000 Heilongjiang Harbin Dalian economic and Trade Zone, the North Road and Xingkai Road intersection Patentee before: HIT ROBOT GROUP CO., LTD. |
|
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 150000 Heilongjiang Harbin Dalian economic and Trade Zone, the North Road and Xingkai Road intersection Patentee after: Harbin Institute of technology robot group (Harbin) Collaborative Innovation Research Institute Co.,Ltd. Address before: 150000 Heilongjiang Harbin Dalian economic and Trade Zone, the North Road and Xingkai Road intersection Patentee before: Hagongda robot group (Harbin) Asset Management Co.,Ltd. |